\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 93.07 \% & 80.58 \% & 70.68 \%\\
Car (Orientation) & 92.74 \% & 79.84 \% & 69.76 \%\\
Car (3D Detection) & 65.80 \% & 46.39 \% & 38.42 \%\\
Car (Bird's Eye View) & 78.10 \% & 58.12 \% & 49.28 \%\\
Pedestrian (Detection) & 44.09 \% & 32.60 \% & 29.10 \%\\
Pedestrian (Orientation) & 26.02 \% & 19.17 \% & 16.90 \%\\
Pedestrian (3D Detection) & 14.05 \% & 10.27 \% & 9.02 \%\\
Pedestrian (Bird's Eye View) & 17.94 \% & 13.03 \% & 11.54 \%\\
Cyclist (Detection) & 21.13 \% & 13.45 \% & 11.72 \%\\
Cyclist (Orientation) & 12.50 \% & 7.73 \% & 6.80 \%\\
Cyclist (3D Detection) & 13.84 \% & 7.69 \% & 6.75 \%\\
Cyclist (Bird's Eye View) & 15.78 \% & 9.02 \% & 7.96 \%
\end{tabular}